CN108861615A - A kind of automatic conveying device based on Dual-motors Driving - Google Patents
A kind of automatic conveying device based on Dual-motors Driving Download PDFInfo
- Publication number
- CN108861615A CN108861615A CN201810891370.7A CN201810891370A CN108861615A CN 108861615 A CN108861615 A CN 108861615A CN 201810891370 A CN201810891370 A CN 201810891370A CN 108861615 A CN108861615 A CN 108861615A
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- Prior art keywords
- gear
- optical axis
- push rod
- hole
- fixed
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Abstract
A kind of automatic conveying device based on Dual-motors Driving mainly includes：Transmission component, carries component and control assembly at grabbing assembly.Transmission component is made of unilateral bearing and combination gear group；Grabbing assembly is realized by Simple hydraulic device and is clamped, then link mechanism is driven by motor and realizes promotion；It carries component and synchronous belt is driven by stepper motor, transmission and gripping portion is pulled to slide on optical axis, realize and carry movement.Action logic, stacking number and the transport distance of whole system are all controlled by chip microcontroller.The invention proposes a kind of new approaches of solution under-actuated systems transmission, can meet less the design requirement that motor-driven object block code puts handling device.
Description
Technical field
It is piled up vertically the present invention relates to a kind of pair of block objects and carries automatic conveying device.
Technical background
Stacking and carrying mechanism often use Serial manipulator in factory at present, at high cost, and control is complicated, and are difficult to primary
Multiple objects are carried, the stacking and handling work of multiple object blocks on conveyer belt are not suitable for.Fixed station stacking is common just
Manipulator is handed over, this mechanism generally uses three motors, completes lateral clamping, vertical lifting and three movements of transport forward, i.e., often
The movement in a motor control one degree of freedom direction.Motor number is more, and machine own wt aggravates, and energy consumption is high, drive lacking problem
It is also current one of the hot issue studied and applied.
Summary of the invention
The purpose of the present invention is to provide one kind can solve the problems, such as object block under drive lacking state stacking and carry based on
The automatic conveying device of Dual-motors Driving.The device can complete clamping, lifting under the under-actuated systems environment of bi-motor, to
Three movement in vertical direction of preceding transport guarantee the steady reliable of transport, and the big small distance of conveying articles is adjustable, and is realizing function
On the basis of energy, automation control is realized.
The invention mainly comprises transmission component, grabbing assembly, carry component and control assembly.Wherein, control assembly is by list
Piece machine and associated appliance element composition, and equipped with cell phone application to realize external control.It the control assembly and is located on movable plate
Transmission component be connected.The transmission component mainly includes：Motor, unilateral bearing, gear A, gear B, gear C, gear D, light
Axis, connecting rod A, connecting rod B, Simple hydraulic push rod A, conduit and movable plate.Motor is coaxially connected with gear A, gear C, two gears
Axis hole is provided with a pair of of unilateral bearing reversed each other.Gear A is located at the gear B on bearing block with gear shaft and is meshed, gear B
It is overlapped with the one end connecting rod A, the connecting rod A other end is connected on the Simple hydraulic push rod A on movable plate, the Simple hydraulic push rod A
Be made of in parallel two simple cylinder barrels and piston push rod, the simple cylinder barrel be can store the small-sized closed container of liquid can be by liquid
Pressure energy is changed into mechanical energy.Gear C is located at the gear D on bearing block with gear shaft and is meshed, gear D end face and the one end connecting rod B
It is connected, the connecting rod B downward other end is connected with the pedestal upper end connector of grabbing assembly.
The grabbing assembly mainly includes：Clamping plate, sliding block, optical axis A, Simple hydraulic push rod B, bracket, limit optical axis B and light
Axis fixing seat.The frame that the bracket is made of horizontal and vertical bar, two vertical bars are equipped with both ends and are individually fixed in it
On two horizontal optical axis A, two optical axises being arranged above and below be respectively perpendicular is vertically connected with across two clamping plate same sides it is logical in ear
Hole, best cleat surface is with the flexible mat board for increasing friction.(non-opposite side) is respectively horizontal with one on the outside of each clamping plate
The B connection of Simple hydraulic push rod, two Simple hydraulics push rod B pass through conduit and Simple hydraulic push rod A two simple cylinder barrel phases respectively
Even.Cradle back (non-to set clamping plate one side) is equipped with upper and lower two pairs of convex blocks, respectively sets a through-hole and upper lower through-hole phase in each convex block
It is right, an optical axis B is respectively set in each pair of upper lower through-hole, the upper end is fixed in the optical axis fixing seat of movable plate bottom surface, and lower end is fixed
On sliding block.Grasping movement is realized in the relative motion of the piston driving clamping plate of Simple hydraulic push rod B.
The carrying component mainly includes：Stepper motor, synchronous pulley, synchronous belt, cross connecting piece and general frame.Institute
Stating its top of cube shaped general frame has two parallel optical axis C, every optical axis C carrying component to pass through a pair of of sliding block
Through-hole, each pair of sliding block are respectively provided at the both ends below movable plate.Being equipped with axis at the top of general frame is in vertical synchronous pulley,
It is cased with synchronous belt on the outside of synchronous pulley, which is fixed on a cross connecting piece, which is fixed on
On movable plate.One of described synchronous pulley is connected with the stepper motor output shaft being fixed on general frame.
The present invention has the following advantages that compared with prior art：The present invention is compared with common Cartesian coordinate type carrying mechanism
Stacking function is increased, and reduces the use of power source, saves space and resource；It is compared with complicated underactuated manipulator,
Design is simplified, reduces the complexity of mechanism, and can realize and be precisely controlled, in the case where not needing complex simulation calculating,
It is proposed a kind of new approaches for solving the problems, such as drive lacking.
The present invention can reduce handling device using the stacking and handling work with small, light block objects on conveyer belt
Cost, improve the efficiency and stability of stacking and carrying.
Detailed description of the invention
Fig. 1 is three-dimensional simplified schematic diagram of the invention.
Fig. 2 is transmission component I solid simplified schematic diagram of the present invention.
Fig. 3 is grabbing assembly II solid simplified schematic diagram of the present invention.
In figure：1. unilateral bearing, 2. gear As, 3. gear Bs, 4. gear Cs, 5. gear Ds, 6. gear shafts, 7. connecting rod A, 8. connect
Bar B, 9. Simple hydraulic push rod A, 91. simple cylinder barrels, 92. piston push rods, 10. Simple hydraulic push rod B, 11. motors, 12. conduits,
13. bracket, 14. clamping plates, 15. optical axis B, 16. synchronous pulleys, 17. sliding blocks, 18. optical axis A, 19. synchronous belts, 20. general frames,
21. optical axis C, 22. movable plates, 23. stepper motors, 24. cross connecting pieces.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
In automatic conveying device solid simplified schematic diagram based on Dual-motors Driving shown in Fig. 1, control assembly is by monolithic
Machine and associated appliance element composition, and it is furnished with cell phone application.The control assembly and the transmission component I phase being located on movable plate 22
Even.The transmission component, as shown in Fig. 2, its motor 11 is connected with gear A 2, gear C 4 by the way that gear shaft 6 is coaxial, two gears
Axis hole is provided with a pair of of unilateral bearing 1 reversed each other.Gear A is meshed with the gear B 3 that gear shaft is located on bearing block, tooth
It takes turns B and the one end connecting rod A7 overlaps, the connecting rod A other end is connected on the Simple hydraulic push rod A9 on movable plate, the Simple hydraulic
Push rod A is made of two simple cylinder barrels 91 and piston push rod 92 in parallel.Gear C is located at 5 phase of gear D on bearing block with gear shaft
Engagement, gear D end face are connected with the one end connecting rod B8, and the connecting rod B downward other end is connect with 13 upper end of bracket of grabbing assembly II
Part is connected.The frame that the bracket is made of horizontal and vertical bar, two vertical bars are equipped with both ends and are individually fixed in thereon
Two horizontal optical axis A18, two optical axises being arranged above and below are respectively perpendicular to be vertically connected in ear across two clamping plates, 14 same side
Through-hole, cleat surface is with the flexible mat board for increasing friction.On the outside of each clamping plate (non-opposite side) respectively with a horizontal letter
Easy hydraulic push rod B10 connection, two Simple hydraulics push rod B pass through conduit 12 and two simple cylinder barrels of Simple hydraulic push rod A respectively
It is connected.Cradle back (non-to set clamping plate one side) is equipped with upper and lower two pairs of convex blocks, respectively sets a through-hole and upper lower through-hole in each convex block
Relatively, an optical axis B15 is respectively set in each pair of upper lower through-hole, the upper end is fixed in the optical axis fixing seat of movable plate bottom surface, lower end
It is fixed on sliding block, as shown in Figure 3.Again in Fig. 1, carrying component III two is arranged at its top of cube shaped general frame 20
Parallel optical axis C21, every optical axis C passes through the through-hole of a pair of of sliding block 17, and each pair of sliding block is respectively provided at two below movable plate
End.Axis is equipped in four vertical synchronous pulleys 16 at the top of general frame, and synchronous pulley outside is cased with synchronous belt 19, this is same
Step band both ends are fixed on a cross connecting piece 24, which is fixed on movable plate.One of described synchronous pulley
It is connected with 23 output shaft of stepper motor being fixed on general frame.
The course of work of the invention is described further by embodiment：Transmission component transports motor translating rotation at two kinds
The component of dynamic form is the gear set based on unilateral bearing, and unilateral bearing (1) is reversibly mounted in gear A (2) and gear C (4),
Gear A (2) is in parallel with gear C (4) with same optical axis (6), it is therefore intended that when motor (11) rotate forward, only gear A, B (2)
(3) it can rotate, connecting rod A (7) can be driven to be moved forward and backward, due to the single direction rotation of unilateral bearing (1), gear C, D (4)
(5) it remain stationary, similarly, when motor (11) inverts, gear C (4), gear D (5) reversion drive connecting rod B (8) to move up and down, tooth
Wheel A (2), gear B (3) are static.Simple hydraulic push rod A (9) is horizontally fixed on movable plate (22), Simple hydraulic push rod B (10)
It is horizontally fixed on grabbing assembly bracket (13), connecting rod A (7) pushes the piston push rod (92) of hydraulic push rod A (9) to advance with after
It moves back, it is therefore an objective to compress and draw back the water and air in conduit (12) and hydraulic push rod (9) cylinder body, make the letter of conduit (12) other end
Easy hydraulic push rod B (10) drives clamping plate (14) to step up and loosen.Connecting rod B (8) is connected with grip portion bracket (13), optical axis B
(15) it is stablized and the effect of limit, clamping plate (14) are mounted on optical axis A (18) by sliding block (17), it is therefore an objective to make clamping plate (14)
Upright position is kept with ground, and keeps stationarity when clamping plate (14) horizontal movement.
Each gear initial position is adjusted first, and conduit (12) interior water and air is made to be in complete uncompressed state, connecting rod B
(8) it is in bottom.It enables motor (11) to rotate forward half cycle, enables it stop by sensor detection and process control.The detection dress
Setting is to install a Hall sensor on movable plate (22), a sheet metal is installed in a certain position of gear, when sheet metal is logical
It is detected when crossing sensor, single-chip microcontroller recognizes gear whereby and gone to specific position, and issues instruction and leave the motor off
Rotation.Gear C (4) gear D (5) is motionless during this, and gear A (2) and the gear B (3) being meshed rotate forward half cycle, the company of drive
Bar A (7) pushes forward hydraulic push rod A (9), the water and air in compression hydraulic device, so that it is hydraulic to be connected with clamping plate (14)
Push rod B (10) pushes clamping plate (14) to move inward, to step up object block.Motor (11) inverts half cycle later, passes through sensor
Detection and process control enable it stop, and gear A (2) gear B (3) is stationary during this, and gear C (4) drives gear D (5)
It reversely rotates, connecting rod B (8) is driven to be lifted upwards, to realize that the whole of grabbing assembly is promoted.It is added again below object block at this time
One object block, motor (11) rotate forward half cycle by control and stop, and gear A (2) gear B (3) rotation during this, connecting rod A (7) drives
Hydraulic push rod A (9) is withdrawn, water and gas uncompression in conduit (12), and clamping plate (14) is mobile outward to unclamp object block.Motor
(11) reversion half cycle stops again, and connecting rod B (8) drives lower section grabbing assembly to be integrally moved down into initially first object block of crawl
Position.Motor (11) rotates forward repeat the above process again, completes crawl work to second object block, motion cycle number by
Process control, can artificially adjust crawl object block number, this process can realize the stacking work for specifying number object block.
Synchronous belt (19) rounds and therefrom separated on general frame (20), and the both ends of disconnection are by cross connecting piece
(24) it is fixed on transmission component, transmission component is connected by sliding block (17) with optical axis C (21), it is therefore an objective to make synchronous belt (19) band
Dynamic transmission component and grabbing assembly integrally move backward forward, and optical axis C (21) plays position-limiting action, keep transmission grabbing assembly whole
The stabilization of movement.
Two movements are only clamped and be lifted when grabbing the last one object block, pass through process control, stepper motor at this time
(23) start, drive synchronous belt (19) rotation, synchronous belt (19) is integrally attached to transmission component and grabbing assembly, therefore can drive this
One whole and its crawl object block moves forward, and mobile distance, can be taking human as adjusting by process control.Reach designated position
Afterwards, motor (11) inverts half cycle, and connecting rod B (8) and coupled grabbing assembly drop to extreme lower position；Motor (11) rotates forward half
Week, connecting rod A (7) drive hydraulic push rod A (9) to withdraw, water and gas uncompression in conduit (12), clamping plate (14) outside sidesway
It is dynamic, object block is unclamped, to realize the handling work to object block.After the completion of movement, stepper motor (23) starting drives synchronous belt
(19) it rotates backward, transmission component and grabbing assembly are integrally kept in the center.
The present apparatus is controlled by single-chip microcontroller, is realized external control equipped with cell phone application, is piled up object block and transport distance by changing
Parameter, change the cycle-index and forward travel distance of device movement, reach stacking to different number object blocks and carry it is different away from
From function.
Simple hydraulic device is equipped with two groups, and clamping plate (14) bilateral symmetry is mobile to center simultaneously when clamping, and final distance will
Less than object block length, but due to being mixed with a certain amount of air in conduit (12), required for compressed air just provides for clamping
Clamping force, pass through change gas and liquid ratio, thus it is possible to vary the dynamics stepped up, and can small range adapt to different length object
Block.The use of Simple hydraulic device also significantly reduces installation weight, improves the compactness of device.
Due to the one-way of unilateral bearing (1) rotation, by way of bearing reverse parallel connection, by the rotation of a motor point
Solution solves the problems, such as the drive lacking of system at the movement for clamping and being lifted both direction.Motor (11) half revolution is passed by Hall
Sensor detection signal simultaneously feeds back to single-chip microcontroller, no accumulated error, is influenced by the external world small, senses sensitive, can stablize and realize clamping portion
The clamping and lifting movement divided.
Claims (2)
1. a kind of automatic conveying device based on Dual-motors Driving, it is characterised in that：Control assembly is by single-chip microcontroller and associated appliance
Element composition, and equipped with cell phone application to realize external control, the control assembly and the transmission component phase being located on movable plate
Even；The motor of the transmission component is coaxially connected with gear A, gear C, and it is single that the axis hole of two gears is provided with a pair reversed each other
To bearing, gear A is located at the gear B on bearing block with gear shaft and is meshed, and gear B and the one end connecting rod A overlap, and connecting rod A is another
It holds on the Simple hydraulic push rod A being connected on movable plate, the Simple hydraulic push rod A is pushed away by two simple cylinder barrels and piston in parallel
Bar composition, gear C are located at the gear D on bearing block with gear shaft and are meshed, and gear D end face is connected with the one end connecting rod B, connecting rod B
The downward other end is connected with the pedestal upper end connector of grabbing assembly；The bracket of the grabbing assembly is by horizontal and vertical bar
The frame of composition, two vertical bars are equipped with both ends and are individually fixed in two horizontal optical axis A thereon, two optical axises being arranged above and below
Be respectively perpendicular the through-hole being vertically connected in ear across two clamping plate same sides, on the outside of each clamping plate respectively with a horizontal simple liquid
Push rod B connection is pressed, two Simple hydraulics push rod B passes through conduit respectively and is connected with Simple hydraulic push rod A two simple cylinder barrels, bracket
The back side is equipped with upper and lower two pairs of convex blocks, respectively sets a through-hole in each convex block and upper lower through-hole is opposite, respectively set in each pair of upper lower through-hole
A piece optical axis B, the upper end are fixed in the optical axis fixing seat of movable plate bottom surface, and lower end is fixed on sliding block；The carrying group
Its top of the cube shaped general frame of part has two parallel optical axis C, every optical axis C to pass through the through-hole of a pair of of sliding block, often
Both ends below movable plate are respectively provided to sliding block, being equipped with axis at the top of general frame is in vertical synchronous pulley, synchronous belt
Wheel outside is cased with synchronous belt, which is fixed on a cross connecting piece, which is fixed on movable plate
On, one of described synchronous pulley is connected with the stepper motor output shaft being fixed on general frame.
2. the automatic conveying device according to claim 1 based on Dual-motors Driving, it is characterised in that：Cleat surface has
Increase the flexible mat board of friction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810891370.7A CN108861615A (en) | 2018-08-07 | 2018-08-07 | A kind of automatic conveying device based on Dual-motors Driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810891370.7A CN108861615A (en) | 2018-08-07 | 2018-08-07 | A kind of automatic conveying device based on Dual-motors Driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108861615A true CN108861615A (en) | 2018-11-23 |
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ID=64317257
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810891370.7A Pending CN108861615A (en) | 2018-08-07 | 2018-08-07 | A kind of automatic conveying device based on Dual-motors Driving |
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| CN (1) | CN108861615A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103193079A (en) * | 2013-04-14 | 2013-07-10 | 北京圣华同安新型建材技术有限公司 | Carrying manipulator for producing environment-friendly bricks |
| US8925987B1 (en) * | 2014-03-18 | 2015-01-06 | Steve Cody | Ring lift device |
| CN106477319A (en) * | 2016-11-29 | 2017-03-08 | 武威市津威环境科技有限责任公司 | A kind of automatic loading and unloading machine |
| CN206318464U (en) * | 2016-11-18 | 2017-07-11 | 山东爱而生智能科技有限公司 | A kind of pallet grasping mechanism and the manipulator of pallet can be captured |
| CN207158295U (en) * | 2017-09-07 | 2018-03-30 | 任建科 | A kind of solid wood rotary-cut plate palletizing mechanical arm |
-
2018
- 2018-08-07 CN CN201810891370.7A patent/CN108861615A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103193079A (en) * | 2013-04-14 | 2013-07-10 | 北京圣华同安新型建材技术有限公司 | Carrying manipulator for producing environment-friendly bricks |
| US8925987B1 (en) * | 2014-03-18 | 2015-01-06 | Steve Cody | Ring lift device |
| CN206318464U (en) * | 2016-11-18 | 2017-07-11 | 山东爱而生智能科技有限公司 | A kind of pallet grasping mechanism and the manipulator of pallet can be captured |
| CN106477319A (en) * | 2016-11-29 | 2017-03-08 | 武威市津威环境科技有限责任公司 | A kind of automatic loading and unloading machine |
| CN207158295U (en) * | 2017-09-07 | 2018-03-30 | 任建科 | A kind of solid wood rotary-cut plate palletizing mechanical arm |
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| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Chen Jigang Inventor after: Ren Zeming Inventor after: Tang Dongyu Inventor after: Li Boxiong Inventor after: Wu Teng Inventor before: Chen Jigang Inventor before: Ren Gangming Inventor before: Tang Dongyu Inventor before: Li Boxiong Inventor before: Wu Teng |
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| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181123 |